#[cfg(all(test, feature = "std"))]
mod tests {
    use cu29_runtime::config::read_configuration;
    use std::fs::{create_dir_all, write};
    use tempfile::tempdir;

    #[test]
    fn test_modular_config_basic() {
        let temp_dir = tempdir().unwrap();
        let base_path = temp_dir.path();

        let config_dir = base_path.join("config");
        create_dir_all(&config_dir).unwrap();

        // Create base.ron with a source task
        let base_config = r#"(
        tasks: [
            (
                id: "source",
                type: "tasks::FlippingSource",
                config: {
                    "rate": 10,
                },
            ),
        ],
        cnx: [],
    )"#;

        let base_path = config_dir.join("base.ron");
        write(&base_path, base_config).unwrap();

        // Create motors.ron template with parameters
        let motors_config = r#"(
        tasks: [
            (
                id: "motor_{{id}}",
                type: "tasks::RPGpio",
                config: {
                    "pin": {{pin}},
                    "direction": "{{direction}}",
                },
            ),
        ],
        cnx: [
            (src: "source", dst: "motor_{{id}}", msg: "tasks::GPIOPayload"),
        ],
    )"#;

        let motors_path = config_dir.join("motors.ron");
        write(&motors_path, motors_config).unwrap();

        // Create main_config.ron that includes the others with params
        let main_config = r#"(
        tasks: [],
        cnx: [],
        monitor: (
            type: "tasks::ConsoleMon",
        ),
        logging: (
            file: "test.copper",
            level: "debug",
        ),
        includes: [
            (
                path: "base.ron",
                params: {},
            ),
            (
                path: "motors.ron",
                params: {
                    "id": "left",
                    "pin": 4,
                    "direction": "forward",
                },
            ),
            (
                path: "motors.ron",
                params: {
                    "id": "right",
                    "pin": 5,
                    "direction": "reverse",
                },
            ),
        ],
    )"#;

        let main_path = config_dir.join("main.ron");
        write(&main_path, main_config).unwrap();

        // Read and validate the configuration
        let config = read_configuration(main_path.to_str().unwrap()).unwrap();
        let graph = config.graphs.get_graph(None).unwrap();

        // Verify tasks
        let all_nodes = graph.get_all_nodes();
        assert_eq!(all_nodes.len(), 3);

        // Verify task IDs
        let task_ids: Vec<_> = all_nodes
            .iter()
            .map(|(_, node)| node.get_id().to_string())
            .collect();
        assert!(task_ids.contains(&"source".to_string()));
        assert!(task_ids.contains(&"motor_left".to_string()));
        assert!(task_ids.contains(&"motor_right".to_string()));

        // Verify parameter substitution for the left motor
        let left_motor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "motor_left")
            .unwrap()
            .1;

        assert_eq!(left_motor.get_type(), "tasks::RPGpio");
        assert_eq!(left_motor.get_param::<i32>("pin").unwrap(), 4);
        assert_eq!(
            left_motor.get_param::<String>("direction").unwrap(),
            "forward"
        );

        // Verify parameter substitution for the right motor
        let right_motor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "motor_right")
            .unwrap()
            .1;

        assert_eq!(right_motor.get_type(), "tasks::RPGpio");
        assert_eq!(right_motor.get_param::<i32>("pin").unwrap(), 5);
        assert_eq!(
            right_motor.get_param::<String>("direction").unwrap(),
            "reverse"
        );

        // Get the graph and verify connections
        let graph = config.graphs.get_graph(None).unwrap();

        // Find node indices for verification
        let source_idx = graph.get_node_id_by_name("source").unwrap();
        let motor_left_idx = graph.get_node_id_by_name("motor_left").unwrap();
        let motor_right_idx = graph.get_node_id_by_name("motor_right").unwrap();

        // Verify source to left motor connection exists
        let left_connection = graph
            .get_connection_msg_type(source_idx, motor_left_idx)
            .expect("Connection from source to motor_left_idx not found");
        assert_eq!(left_connection, "tasks::GPIOPayload");

        // Verify source to right motor connection exists
        let right_connection = graph
            .get_connection_msg_type(source_idx, motor_right_idx)
            .expect("Connection from source to motor_right_idx not found");
        assert_eq!(right_connection, "tasks::GPIOPayload");

        // Verify monitor
        assert_eq!(
            config.monitor.as_ref().unwrap().get_type(),
            "tasks::ConsoleMon"
        );
    }

    #[test]
    fn test_modular_config_nested() {
        let temp_dir = tempdir().unwrap();
        let base_path = temp_dir.path();

        let config_dir = base_path.join("config");
        create_dir_all(&config_dir).unwrap();

        // Create sensor.ron with sensor configuration
        let sensor_config = r#"(
        tasks: [
            (
                id: "sensor_{{id}}",
                type: "tasks::Sensor{{type}}",
                config: {
                    "rate": {{rate}},
                },
            ),
        ],
        cnx: [],
    )"#;

        let sensor_path = config_dir.join("sensor.ron");
        write(&sensor_path, sensor_config).unwrap();

        // Create processor.ron with processing tasks
        let processor_config = r#"(
        tasks: [
            (
                id: "processor_{{id}}",
                type: "tasks::DataProcessor",
                config: {
                    "threshold": {{threshold}},
                },
            ),
        ],
        cnx: [
            (src: "sensor_{{sensor_id}}", dst: "processor_{{id}}", msg: "tasks::SensorData"),
        ],
    )"#;

        let processor_path = config_dir.join("processor.ron");
        write(&processor_path, processor_config).unwrap();

        // Create subsystem.ron that includes sensor and processor
        let subsystem_config = r#"(
        tasks: [],
        cnx: [],
        includes: [
            (
                path: "sensor.ron",
                params: {
                    "id": "{{subsystem_id}}",
                    "type": "{{sensor_type}}",
                    "rate": {{sensor_rate}},
                },
            ),
            (
                path: "processor.ron",
                params: {
                    "id": "{{subsystem_id}}",
                    "sensor_id": "{{subsystem_id}}",
                    "threshold": {{processor_threshold}},
                },
            ),
        ],
    )"#;

        let subsystem_path = config_dir.join("subsystem.ron");
        write(&subsystem_path, subsystem_config).unwrap();

        // Create main_config.ron that includes multiple subsystems
        let main_config = r#"(
        tasks: [
            (
                id: "controller",
                type: "tasks::MainController",
            ),
        ],
        cnx: [
            (src: "processor_front", dst: "controller", msg: "tasks::ProcessedData"),
            (src: "processor_rear", dst: "controller", msg: "tasks::ProcessedData"),
        ],
        includes: [
            (
                path: "subsystem.ron",
                params: {
                    "subsystem_id": "front",
                    "sensor_type": "Infrared",
                    "sensor_rate": 20,
                    "processor_threshold": 0.75,
                },
            ),
            (
                path: "subsystem.ron",
                params: {
                    "subsystem_id": "rear",
                    "sensor_type": "Ultrasonic",
                    "sensor_rate": 10,
                    "processor_threshold": 0.5,
                },
            ),
        ],
    )"#;

        let main_path = config_dir.join("main.ron");
        write(&main_path, main_config).unwrap();

        // Read and validate the configuration
        let config = read_configuration(main_path.to_str().unwrap()).unwrap();
        let graph = config.graphs.get_graph(None).unwrap();

        // Verify tasks
        let all_nodes = graph.get_all_nodes();
        assert_eq!(all_nodes.len(), 5); // 1 controller + 2 sensors + 2 processors

        // Verify task IDs
        let task_ids: Vec<_> = all_nodes
            .iter()
            .map(|(_, node)| node.get_id().to_string())
            .collect();
        assert!(task_ids.contains(&"controller".to_string()));
        assert!(task_ids.contains(&"sensor_front".to_string()));
        assert!(task_ids.contains(&"sensor_rear".to_string()));
        assert!(task_ids.contains(&"processor_front".to_string()));
        assert!(task_ids.contains(&"processor_rear".to_string()));

        // Verify front sensor parameters
        let front_sensor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "sensor_front")
            .unwrap()
            .1;

        assert_eq!(front_sensor.get_type(), "tasks::SensorInfrared");
        assert_eq!(front_sensor.get_param::<i32>("rate").unwrap(), 20);

        // Verify rear sensor parameters
        let rear_sensor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "sensor_rear")
            .unwrap()
            .1;

        assert_eq!(rear_sensor.get_type(), "tasks::SensorUltrasonic");
        assert_eq!(rear_sensor.get_param::<i32>("rate").unwrap(), 10);

        // Verify front processor parameters
        let front_processor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "processor_front")
            .unwrap()
            .1;

        assert_eq!(front_processor.get_param::<f64>("threshold").unwrap(), 0.75);

        // Verify rear processor parameters
        let rear_processor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "processor_rear")
            .unwrap()
            .1;

        assert_eq!(rear_processor.get_param::<f64>("threshold").unwrap(), 0.5);

        // Get the graph and verify connections
        let graph = config.graphs.get_graph(None).unwrap();

        // Find the node indices
        let controller_idx = graph.get_node_id_by_name("controller").unwrap();
        let sensor_front_idx = graph.get_node_id_by_name("sensor_front").unwrap();
        let sensor_rear_idx = graph.get_node_id_by_name("sensor_rear").unwrap();
        let processor_front_idx = graph.get_node_id_by_name("processor_front").unwrap();
        let processor_rear_idx = graph.get_node_id_by_name("processor_rear").unwrap();

        // Verify sensor to processor connections
        let sensor_front_to_processor =
            graph.connection_exists(sensor_front_idx, processor_front_idx);
        assert!(
            sensor_front_to_processor,
            "Connection from sensor_front to processor_front not found"
        );

        let sensor_rear_to_processor = graph.connection_exists(sensor_rear_idx, processor_rear_idx);
        assert!(
            sensor_rear_to_processor,
            "Connection from sensor_rear to processor_rear not found"
        );

        // Verify processor to controller connections
        let processor_front_to_controller =
            graph.connection_exists(processor_front_idx, controller_idx);
        assert!(
            processor_front_to_controller,
            "Connection from processor_front to controller not found"
        );

        let processor_rear_to_controller =
            graph.connection_exists(processor_rear_idx, controller_idx);
        assert!(
            processor_rear_to_controller,
            "Connection from processor_rear to controller not found"
        );
    }

    #[test]
    fn test_modular_config_override() {
        let temp_dir = tempdir().unwrap();
        let base_path = temp_dir.path();

        let config_dir = base_path.join("config");
        create_dir_all(&config_dir).unwrap();

        // Create base.ron with default tasks and connections
        let base_config = r#"(
        tasks: [
            (
                id: "source",
                type: "tasks::DefaultSource",
                config: {
                    "param": "default",
                },
            ),
            (
                id: "processor",
                type: "tasks::DefaultProcessor",
            ),
        ],
        cnx: [
            (src: "source", dst: "processor", msg: "tasks::DefaultData"),
        ],
        monitor: (
            type: "tasks::DefaultMonitor",
        ),
    )"#;

        let base_path = config_dir.join("base.ron");
        write(&base_path, base_config).unwrap();

        // Create main_config.ron that includes base but overrides some settings
        let main_config = r#"(
        tasks: [
            (
                id: "source",
                type: "tasks::CustomSource",
                config: {
                    "param": "custom",
                    "additional": true,
                },
            ),
            (
                id: "sink",
                type: "tasks::DataSink",
            ),
        ],
        cnx: [
            (src: "processor", dst: "sink", msg: "tasks::ProcessedData"),
        ],
        monitor: (
            type: "tasks::CustomMonitor",
            config: {
                "debug": true,
            },
        ),
        includes: [
            (
                path: "base.ron",
                params: {},
            ),
        ],
    )"#;

        let main_path = config_dir.join("main.ron");
        write(&main_path, main_config).unwrap();

        // Read and validate the configuration
        let config = read_configuration(main_path.to_str().unwrap()).unwrap();
        let graph = config.graphs.get_graph(None).unwrap();

        // Verify tasks
        let all_nodes = graph.get_all_nodes();
        assert_eq!(all_nodes.len(), 3); // source, processor, sink

        // Verify source task has been overridden
        let source = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "source")
            .unwrap()
            .1;

        assert_eq!(source.get_type(), "tasks::CustomSource");
        assert_eq!(source.get_param::<String>("param").unwrap(), "custom");
        assert!(source.get_param::<bool>("additional").unwrap());

        // Verify processor remains from base config
        let processor = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "processor")
            .unwrap()
            .1;

        assert_eq!(processor.get_type(), "tasks::DefaultProcessor");

        // Verify sink from main config
        let sink = all_nodes
            .iter()
            .find(|(_, node)| node.get_id() == "sink")
            .unwrap()
            .1;

        assert_eq!(sink.get_type(), "tasks::DataSink");

        // Get the graph and verify connections
        let graph = config.graphs.get_graph(None).unwrap();

        // Find node indices
        let source_idx = graph.get_node_id_by_name("source").unwrap();
        let processor_idx = graph.get_node_id_by_name("processor").unwrap();
        let sink_idx = graph.get_node_id_by_name("sink").unwrap();

        // Verify source to processor connection
        let source_to_processor = graph.connection_exists(source_idx, processor_idx);
        assert!(
            source_to_processor,
            "Connection from source to processor not found"
        );

        // Verify processor to sink connection
        let processor_to_sink = graph.connection_exists(processor_idx, sink_idx);
        assert!(
            processor_to_sink,
            "Connection from processor to sink not found"
        );

        // Verify monitor has been overridden
        assert_eq!(
            config.monitor.as_ref().unwrap().get_type(),
            "tasks::CustomMonitor"
        );

        // Verify monitor is present
        assert!(config.monitor.is_some());
        // We can't access private fields, so we'll just verify the type is correct
        // The custom logic was removed to focus on what's essential for testing
    }

    #[test]
    fn test_modular_config_error_handling() {
        let temp_dir = tempdir().unwrap();
        let base_path = temp_dir.path();

        let config_dir = base_path.join("config");
        create_dir_all(&config_dir).unwrap();

        // Test missing include file
        let missing_include_config = r#"(
        tasks: [],
        cnx: [],
        includes: [
            (
                path: "nonexistent.ron",
                params: {},
            ),
        ],
    )"#;

        let missing_path = config_dir.join("missing_include.ron");
        write(&missing_path, missing_include_config).unwrap();

        let result = read_configuration(missing_path.to_str().unwrap());
        assert!(result.is_err());

        // Test invalid parameter substitution
        let template_config = r#"(
        tasks: [
            (
                id: "task_{{id}}",
                type: "tasks::Task",
                config: {
                    "value": {{value}},
                },
            ),
        ],
        cnx: [],
    )"#;

        let template_path = config_dir.join("template.ron");
        write(&template_path, template_config).unwrap();

        let missing_param_config = r#"(
        tasks: [],
        cnx: [],
        includes: [
            (
                path: "template.ron",
                params: {
                    "id": "test",
                    // Missing "value" parameter
                },
            ),
        ],
    )"#;

        let missing_param_path = config_dir.join("missing_param.ron");
        write(&missing_param_path, missing_param_config).unwrap();

        let result = read_configuration(missing_param_path.to_str().unwrap());
        assert!(result.is_err());

        // Test with invalid RON syntax
        let invalid_syntax_config = r#"(
        tasks: [
            (
                id: "task"
                type: "tasks::Task", // Missing comma after id
                config: {},
            ),
        ],
        cnx: [],
    )"#;

        let invalid_syntax_path = config_dir.join("invalid_syntax.ron");
        write(&invalid_syntax_path, invalid_syntax_config).unwrap();

        let result = read_configuration(invalid_syntax_path.to_str().unwrap());
        assert!(result.is_err());
    }
}
